Formation Path Tracking Controller of Multiple Robot System By High Order Sliding Mode

摘要

A formation path tracking controller for multiple robot system by sliding mode control method is introduced. The dynamic equation of robot is transformed into a relative moving equation between the leader robot and the follower robot and the drawback of structural singularity in the robot with nonholonomic constraints is overcome. The sliding mode control method is applied in the multiple robot system. Sliding mode control law for the leader robot to track the desired path and sliding mode control law for the follower robot to follow the leader robot are designed. Numerical simulation illustrates every robot can promptly form a desired formation and then follow the desired path, so it proves the validity of the proposed formation path tracking control law.